Minors and cofactors
From Robotics
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The minor of an nbyn square matrix is the determinant of a smaller square matrix obtained by removing the row and the column from .
Multiplying the minor with results in the cofactor :
Example: Minors and cofactors of a 3by3 matrix
The minors and for example are defined as The corresponding cofactors in that case are 
Example: Minors and cofactors of a 4by4 matrix
This example uses the transformation matrix that is introduced in the robotics script in chapter 3 on page 337 and used on the following pages.
The minors and for example are defined as
